//
// Created by lqk on 2022/1/29.
//

#ifndef QUADCEREBELLUM_LEGSCONTROLLER_H
#define QUADCEREBELLUM_LEGSCONTROLLER_H

#include "QuadrupedKinematics.h"
#include "PyBulletMotorsDriver.h"
#include "LegStructs.h"


class LegsController {
public:
    LegsController(const QuadrupedKinematics& quadKine): m_quadkinematics(quadKine){}
    void UpdateMotorsCommand(LegCommand* const,LegState* const);
    void UpdateLegsState(LegState* const);

private:
    QuadrupedKinematics m_quadkinematics;
    float m_maxTorque=30.0;
};


#endif //QUADCEREBELLUM_LEGSCONTROLLER_H
